OpenGL进阶(五) - 物理模拟

今天要实现的是利用OpenGL模拟三个物理学中常见的运动：自由落体，匀速之间，弹簧振子。

首先要实现一个空间三维向量类，看这篇文章：向量类的实现

然后主要要实现的是质点类，

/*
Copyright: 2012, ustc All rights reserved.
contact:k283228391@126.com
File name: mass.h
Description:Particle in Physical
Author:Silang Quan
Version: 1.0
Date: 2012.12.21
*/
#ifndef MASS_H
#define MASS_H
#include "vector3d.h"

class Mass
{
    public:
        Mass();
        Mass(float _m,float _size){m=_m;size=_size;};
        void init();
        void simulate(float dt);
        void checkBnd(float x1,float x2,float y1,float y2);
        void setForce(Vector3D _force){force=_force;};
        void setVel(Vector3D _vel){vel=_vel;};
        virtual ~Mass();
        inline Vector3D getPos(){return pos;};
        inline Vector3D getVel(){return vel;};
        inline Vector3D getForce(){return force;};
        inline float getSize(){return size;};


    protected:
    private:
    float size;                         //大小
	float m;							// 质量
	Vector3D pos;								// 位置
	Vector3D vel;								// 速度
	Vector3D force;								// 力
};

#endif // MASS_H

简单解释一下：质点主要有大小，质量，速度，受力这四个属性。除了一些getset方法外，最关键的是simulate和checkBnd连个方法，分别是模拟运动和边界检测，实现起来也比较简单。

/*
Copyright: 2012, ustc All rights reserved.
contact:k283228391@126.com
File name: mass.cpp
Description:Particle in Physical
Author:Silang Quan
Version: 1.0
Date: 2012.12.21
*/
#include "mass.h"

Mass::Mass()
{
    //ctor
}
void Mass::init()
{
    force=Vector3D::zero();
    vel=Vector3D::zero();
}
void Mass::simulate(float dt)
{
    Vector3D acl=force/m;
    vel=vel+acl*dt;
    pos=pos+vel*dt;
}
Mass::~Mass()
{
    //dtor
}
void Mass::checkBnd(float x1,float x2,float y1,float y2)
{
    if (pos.x - size < x1 || pos.x +size > x2) vel.x = -vel.x;
    if (pos.y - size < y1 || pos.y + size > y2) vel.y = -vel.y;
}

在simulate函数中我们用到了运动学的公式：a=F/m,Vt=Vo+at.deltaS=at^2.

接下来我们就可以来进行模拟了！

首先在main.cpp中声明几个全局变量：

GLUquadricObj *mySphere;
Mass constVelBall;
Mass gravityBall;
Mass springBall;

GLUquadricObj是二次曲面对象的声明类，后面三个是声明三个质点。

接下来是对三个质点的初始化：

void initMasses()
{
    constVelBall=Mass(5.0,3);
    constVelBall.init();
    constVelBall.setVel(Vector3D(3.0,5.0,0.0));

    gravityBall=Mass(5.0,2);
    gravityBall.init();
    gravityBall.setVel(Vector3D(-1.0,0.0,0.0));
    gravityBall.setForce(Vector3D(0.0,-2.0,0.0));

    springBall=Mass(5.0,4);
    springBall.init();
    springBall.setVel(Vector3D(2.0,0.0,2.0));
}

然后是模拟检测：

void simulateCheck()
{
    Vector3D connectionPos = Vector3D(0.0f, 0.0f, 0.0f);
    constVelBall.simulate(0.1);
    constVelBall.checkBnd(-20,20,-20,20);
    gravityBall.simulate(0.1);
    gravityBall.checkBnd(-20,20,-20,20);

    springBall.simulate(0.1);
    Vector3D springVector = springBall.getPos() - connectionPos;
    springBall.setForce(springVector*(-0.1));
}

这两个函数在main中进行调用。

还需要添加一个绘制质点的函数。我们用球体来代表质点，Mass中的size域就用来做半径。

void drawMass(Mass m)
{
    Vector3D tmp=m.getPos();
    glPushMatrix();
    glTranslatef(tmp.x,tmp.y,tmp.z);
    gluSphere(mySphere,m.getSize(), 32, 16);
    glPopMatrix();
}

最后来看渲染函数：

void renderGL()
{
	// Clear the color and depth buffers.
	glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );
	// We don't want to modify the projection matrix. */
	glMatrixMode( GL_MODELVIEW );
	glLoadIdentity( );
	// Move down the z-axis.
	glTranslatef(0.0f,0.0f,-35.0f);
    glColor3ub(0, 0, 255);										// Draw In Blue
	glBegin(GL_LINES);
	// Draw The Vertical Lines
	for (float x = -20; x <= 20; x += 2.0f)						// x += 1.0f Stands For 1 Meter Of Space In This Example
	{
		glVertex3f(x, 20, 0);
		glVertex3f(x,-20, 0);
	}
	// Draw The Horizontal Lines
	for (float y = -20; y <= 20; y += 2.0f)						// y += 1.0f Stands For 1 Meter Of Space In This Example
	{
		glVertex3f( 20, y, 0);
		glVertex3f(-20, y, 0);
	}
	glEnd();
	glColor3ub(0,255, 255);
	drawMass(constVelBall);
    glColor3ub(255,0, 255);
    drawMass(gravityBall);
    glColor3ub(255,255,0);
    drawMass(springBall);
	SDL_GL_SwapBuffers( );
}

先渲染一些网格，然后对质点进行渲染。

最后的效果就像这样：

源码下载